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octree_pointcloud_changedetector.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
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*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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*
* $Id$
*/
#pragma once
#include <pcl/octree/octree2buf_base.h>
#include <pcl/octree/octree_pointcloud.h>
#include <pcl/memory.h>
namespace pcl {
namespace octree {
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b Octree pointcloud change detector class
* \note This pointcloud octree class generate an octrees from a point cloud
* (zero-copy). It allows to detect new leaf nodes and serialize their point indices
* \note The octree pointcloud is initialized with its voxel resolution. Its bounding
* box is automatically adjusted or can be predefined.
* \tparam PointT type of point used in pointcloud
* \ingroup octree
* \author Julius Kammerl (julius@kammerl.de)
*/
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT,
typename LeafContainerT = OctreeContainerPointIndices,
typename BranchContainerT = OctreeContainerEmpty>
class OctreePointCloudChangeDetector
: public OctreePointCloud<PointT,
LeafContainerT,
BranchContainerT,
Octree2BufBase<LeafContainerT, BranchContainerT>>
{
public:
using Ptr = shared_ptr<
OctreePointCloudChangeDetector<PointT, LeafContainerT, BranchContainerT>>;
using ConstPtr = shared_ptr<
const OctreePointCloudChangeDetector<PointT, LeafContainerT, BranchContainerT>>;
/** \brief Constructor.
* \param resolution_arg: octree resolution at lowest octree level
* */
OctreePointCloudChangeDetector(const double resolution_arg)
: OctreePointCloud<PointT,
LeafContainerT,
BranchContainerT,
Octree2BufBase<LeafContainerT, BranchContainerT>>(resolution_arg)
{}
/** \brief Get a indices from all leaf nodes that did not exist in previous buffer.
* \param indicesVector_arg: results are written to this vector of int indices
* \param minPointsPerLeaf_arg: minimum amount of points required within leaf node to
* become serialized.
* \return number of point indices
*/
std::size_t
getPointIndicesFromNewVoxels(Indices& indicesVector_arg,
const uindex_t minPointsPerLeaf_arg = 0)
{
std::vector<OctreeContainerPointIndices*> leaf_containers;
this->serializeNewLeafs(leaf_containers);
for (const auto& leaf_container : leaf_containers) {
if (static_cast<uindex_t>(leaf_container->getSize()) >= minPointsPerLeaf_arg)
leaf_container->getPointIndices(indicesVector_arg);
}
return (indicesVector_arg.size());
}
};
} // namespace octree
} // namespace pcl
#define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) \
template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>;
pcl::octree::Octree2BufBase
Octree double buffer class
Definition octree2buf_base.h:222
pcl::octree::Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty >::serializeNewLeafs
void serializeNewLeafs(std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg)
Definition octree2buf_base.hpp:339
pcl::octree::OctreeContainerEmpty
Octree container class that does not store any information.
Definition octree_container.h:129
pcl::octree::OctreeContainerPointIndices
Octree container class that does store a vector of point indices.
Definition octree_container.h:264
pcl::octree::OctreePointCloudChangeDetector::ConstPtr
shared_ptr< const OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT > > ConstPtr
Definition octree_pointcloud_changedetector.h:74
pcl::octree::OctreePointCloudChangeDetector::OctreePointCloudChangeDetector
OctreePointCloudChangeDetector(const double resolution_arg)
Constructor.
Definition octree_pointcloud_changedetector.h:80
pcl::octree::OctreePointCloudChangeDetector::getPointIndicesFromNewVoxels
std::size_t getPointIndicesFromNewVoxels(Indices &indicesVector_arg, const uindex_t minPointsPerLeaf_arg=0)
Get a indices from all leaf nodes that did not exist in previous buffer.
Definition octree_pointcloud_changedetector.h:94
pcl::octree::OctreePointCloudChangeDetector::Ptr
shared_ptr< OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT > > Ptr
Definition octree_pointcloud_changedetector.h:72
pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > >::OctreePointCloud
OctreePointCloud(const double resolution_arg)
Definition octree_pointcloud.hpp:54
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl::octree
Definition color_coding.h:47
pcl
Definition convolution.h:46
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
pcl::uindex_t
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition types.h:120